机械臂的轨迹规划综述

-1-机械臂运动的轨迹规划摘要空间机械臂是一个机、电、热、控一体化的高集成的空间机械系统。随着科技的发展，特别是航空飞机、机器人等的诞生得到了广泛的应用，空间机械臂作为在轨迹的支持、服务等以备受人们的关注。本文将以空间机械臂为研究对象，针对空间机械臂的直线运动、关节的规划、空间直线以及弧线的轨迹规划几个方面进行研究，对机械臂运动和工作空间进行了分析，同时对机械臂的轨迹规划进行了验证，利用MATLAB软件对机械臂的轨迹进行仿真，验证算法的正确性和可行性，同时此路径规划方法可以提高机械臂的作业效率，为机械臂操作提高理论指导，为机器人更复杂的运动仿真与路径规划打下基础。本文一共分为四章：第一章，首先总结了机械臂运动控制与轨迹规划问题的研究现状及研究方法，归纳了各种轨迹规划的算法及其优化方法，阐述了机械臂的研究背景和主要内容。第二章，对机械臂的空间运动进行分析研究，采用抽样求解数值法—蒙特卡洛方法，进行机械臂工作空间求解，同时在MATLAB中进行仿真，直观展示机械臂工作范围，为下一章的轨迹规划提供理论基础；同时通过D-H参数法对机械臂的正、逆运动分析求解，分析两者的区别和联系。第三章，主要针对轨迹规划的一般性问题进行分析，利用笛卡尔空间的轨迹规划方法对机械臂进行轨迹规划，同时利用MATLAB对空间直线和空间圆弧进行轨迹规划，通过仿真验证算法的正确性和可行性。第四章，总结全文，分析本文应用到机械臂中的控制算法，通过MATLAB结果可以得出本文所建立的算法正确性，能够对机械臂运动提供有效的路径，而且改进了其他应用于空间机械臂的路径规划问题。【关键词】运动分析工作空间算法研究轨迹规划-2-ABSTRACTSpacemanipulatorisamachine,electricity,heat,chargedwithhighintegrationofspacemechanicalsystemintegration.Withthedevelopmentofscienceandtechnology,especiallythebirthofaviationaircraft,arobothasbeenwidelyused,thetrajectoryofspacemanipulatorasthesupportandservicestopeople'sattention.Thisarticlewillspacemanipulatorastheresearchobject,accordingtothelinearmotionofthespacemanipulator,jointplanning,spaceofthestraightlineandcurve,thetrajectoryplanningofseveralaspectsofmechanicalarmmovementandworkingspaceareanalyzed,andthetrajectoryplanningofmanipulatorisverified,thetrajectoryofmanipulatoristomakeuseofMATLABsoftwaresimulation,verifythecorrectnessandfeasibilityofthealgorithm,atthesametimethispathplanningmethodcanimprovetheefficiencyofmechanicalarm,improvethetheoreticalguidanceformechanicalarmoperation,simulationandpathplanningforrobotmorecomplicatedmovement.Thisarticleisdividedintofourchaptersaltogether:Thefirstchapter,firstsummarizesthemechanicalarmmotioncontrolandpathplanningproblemresearchstatusandresearchmethods,summarizesthevarietyoftrajectoryplanningalgorithmandthemethodofoptimization,andexpoundstheresearchbackgroundandmaincontentofmechanicalarm.Thesecondchapter,thepaperstudiedthespacemotionofmechanicalarm,thenumericalmethod,montecarlomethodarededucedwiththemethodofsampling,theworkspaceformechanicalarmis,atthesametimethesimulationinMATLAB,intuitivedisplaymechanicalarmworkscope,providingtheoreticalbasisforthenextchapteroftrajectoryplanning.Atthesametimethroughd-hmethodofpositiveandinversekinematicanalysisofthemechanicalarm,analyzethedifferenceandcontact.Thethirdchapter,mainlyaimsatthegeneralproblemoftrajectoryplanningisanalyzed,usingcartesianspacetrajectoryplanningmethodfortrajectoryplanning,mechanicalarmatthesametime,MATLABisusedtoanalysethespatialstraightlineandarctrajectoryplanning,throughthesimulationverifythecorrectnessand-3-feasibilityofthealgorithm.Thefourthchapter,summarizesthefulltext,analysisofthecontrolalgorithmisappliedtothemechanicalarminthispaper,throughtheMATLABresultscanbeconcludedthatthecorrectnessofalgorithm,canprovideeffectivepathofmechanicalarmmovement,andimprovedtheotherusedinspacemanipulatorpathplanningproblem.[keywords]motionanalysis,workspace,trajectoryplanning,algorithmresearch-4-目录摘要.........................................................................................................................-1-ABSTRACT..............................................................................................................-2-第一章绪论.............................................................................................................-5-第一节研究背景及意义..................................................................................-5-第二节国内外发展现状..................................................................................-6-一、国内现状.............................................................................................-6-二、国外现状.............................................................................................-6-第二章机械臂的运动分析.....................................................................................-8-第一节机械臂的正运动学分析......................................................................-8-第二节机械臂的逆运动学求解....................................................................-10-第三章五轴机械臂轨迹规划与仿真...................................................................-11-第一节轨迹规划一般问题............................................................................-11-第二节关节空间的轨迹规划........................................................................-12-一、三次多项式插值法...........................................................................-12-二、五次多项式插值...............................................................................-15-第三节笛卡尔空间的轨迹规划....................................................................-17-一、空间直线轨迹规划...........................................................................-18-二、空间圆弧的轨迹规划.......................................................................-21-三、一般空间轨迹规划...........................................................................-25-第四章总结与展望...............................................................................................-30-参考文献.................................................................................................................-31--5